Hi,
there has been some discussion about collision libs on the list lately this
month, check the archives for previous posts there are some links too.
I suggest you check the VCOLLIDE library from :

http://www.cs.unc.edu/~geom/V_COLLIDE/
Looks promising since has low and top level collision detection and few
graphical examples.
Not sure about matrix order difference but shouldn't be too hard to figure
out ( check list archives ).

Gab-

> Hello again.
> 
> I was wondering if there are any collision detection libraries that have
> been sucessfully used with OSG?
> If I had a better understanding of OSG I could probably just take a lib
> and make a wrapper/converter, but as it is, I don't know anything (like
> how to access down to polygon level of nodes, which i'm not completely
> sure if even possible).
> 
> Best regards
> Henrik Gundersen
 
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